CN115825930A - Anti-interference method and device for laser radar, storage medium and laser radar - Google Patents
Anti-interference method and device for laser radar, storage medium and laser radar Download PDFInfo
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Abstract
The application discloses laser radar anti-interference method, device, storage medium and laser radar are applied to full laser radar, the laser radar comprises a laser emitting array and a laser receiving array, and the method comprises the following steps: determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition; and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser transmitting units to respectively correspond to the laser receiving units to receive echo beams, so as to realize the detection of the target object. The laser receiving unit can not generate the crosstalk problem when receiving the stress light, and the accuracy of the point cloud data is improved.
Description
Technical Field
The application relates to the technical field of computers, in particular to a laser radar anti-interference method, a laser radar anti-interference device, a storage medium and a laser radar.
Background
In the multi-sensor system, there are multiple groups of laser emitters and receiving sensors, each group of laser emitters and receiving sensors belong to a parallel relationship, and the laser emitters of each group and the receiving sensors of the same group belong to a serial relationship.
Disclosure of Invention
The embodiment of the application provides a laser radar anti-interference method, a laser radar anti-interference device, a storage medium and a laser radar, which can prevent a laser receiving unit from generating a crosstalk problem when receiving stress light and improve the accuracy of point cloud data, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides an anti-interference method for a laser radar, where the laser radar includes a laser emitting array and a laser receiving array, and the method includes:
determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition;
and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser transmitting units to respectively correspond to the laser receiving units to receive echo beams, so as to realize the detection of the target object.
In a second aspect, an embodiment of the present application provides a lidar anti-jamming device, where the lidar includes a laser emitting array and a laser receiving array, and the device includes:
the unit determining module is used for determining at least two laser emitting units to be started in a measuring period, wherein the at least two laser emitting units to be started are in different laser emitting groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition;
and the target detection module is used for controlling the at least two laser transmitting units to transmit laser beams based on a preset rule and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams so as to realize the detection of the target object.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.
In a fourth aspect, an embodiment of the present application provides a lidar, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The beneficial effects brought by the technical scheme provided by some embodiments of the application at least comprise:
by adopting the embodiment, the laser radar comprises a laser transmitting array and a laser receiving array, at least two laser transmitting units to be started are determined in one measuring period, and the at least two laser transmitting units to be started are in different laser transmitting groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition; and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams respectively, so as to realize the detection of the target object. The laser receiving unit can not generate the crosstalk problem when receiving the stress light, and the accuracy of the point cloud data is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view illustrating an anti-interference process of a laser radar according to an embodiment of the present disclosure;
FIG. 2 is an exemplary schematic diagram of a laser emitting array provided in an embodiment of the present application;
fig. 3 is an exemplary schematic diagram of a laser receiving array according to an embodiment of the present disclosure;
fig. 4 is a schematic view illustrating an anti-interference process of a laser radar according to an embodiment of the present disclosure;
fig. 5 is an exemplary schematic diagram of a ranging scenario provided in an embodiment of the present application;
FIG. 6 is an exemplary schematic diagram of a laser emitting array provided in an embodiment of the present application;
FIG. 7 is an exemplary schematic diagram of a laser emitting array provided in an embodiment of the present application;
fig. 8 is an exemplary schematic diagram of a laser receiving array provided in an embodiment of the present application;
FIG. 9 is an exemplary schematic diagram of a laser emitting array provided in an embodiment of the present application;
fig. 10 is an exemplary schematic diagram of a laser receiving array provided in an embodiment of the present application;
fig. 11 is a schematic flowchart of interference resistance of a laser radar according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of an anti-jamming device for a laser radar according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of an anti-jamming device for a laser radar according to an embodiment of the present disclosure;
fig. 14 is a schematic structural diagram of an anti-jamming device for a laser radar according to an embodiment of the present disclosure;
fig. 15 is a schematic structural diagram of a filtering processing module according to an embodiment of the present application;
fig. 16 is a schematic structural diagram of an anti-jamming device for a laser radar according to an embodiment of the present disclosure;
fig. 17 is a schematic structural diagram of a laser radar according to an embodiment of the present application;
fig. 18 is a schematic structural diagram of a laser radar according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the claims that follow.
In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship 6 system of the association object, which means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The anti-interference method for the lidar provided by the embodiment of the present application will be described in detail below with reference to fig. 1 to 11. The method can be realized by relying on a computer program and can run on a laser radar anti-interference device based on a Von Neumann system. The computer program may be integrated into the application or may run as a separate tool-like application. The lidar anti-interference device in the embodiment of the present application may be any device that adopts a lidar anti-interference method, including but not limited to: an in-vehicle device, an airplane, a train, a handheld device, a wearable device, a computing device or other processing device connected to a wireless modem, and the like.
After the laser emitter emits laser, if the energy of the reflected laser is relatively strong or the corresponding light spot is relatively large, the laser can be diffusely reflected to the receiving sensors of other groups, so that the receiving sensors of other groups receive the laser which is not reflected by the corresponding channel, interference is caused, and the accuracy of the measured point cloud data is influenced.
Referring to fig. 1, a schematic flow chart of an anti-jamming method for a laser radar is provided in an embodiment of the present application.
As shown in fig. 1, the method of the embodiment of the present application may include the steps of:
s101, determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
the laser emitting array may include a preset number of laser emitting groups, and the laser receiving array may include a preset number of laser receiving groups, where the preset number of laser emitting groups corresponds to the preset number of laser receiving groups. One laser emission group may contain two laser emitters, and one laser reception group may contain two laser receivers, and laser emitters belonging to the same group are in a serial emission relationship, but laser emitters belonging to different groups are in a parallel emission relationship.
For example, as shown in fig. 2, the laser emission array may include four laser emission groups, i.e., 111, 112, 113 and 114, wherein each laser emission group is disposed on one emission plate, and as an example, each laser emission group includes 32 laser emitters, and each laser emission group may be disposed on both sides of one emission plate. Wherein the laser emitter may be an edge emitter, as an example. Wherein the lasers in each laser emission group adopt a serial emission relationship. And the different transmitting groups adopt a parallel transmitting relation.
As shown in fig. 3, fig. 3 is a receiving array, where the receiving array is a receiving array corresponding to the transmitting array of fig. 2, and as an alternative example, the receiving units of the receiving array are in a one-to-one correspondence relationship with the transmitting units shown in fig. 2.
It is understood that a plurality of transmitting units may be included in one transmitter group, for example, as shown in fig. 2, the laser transmitter group 111 and the laser transmitter group 112 may include a plurality of transmitting units as shown in fig. 2. Wherein it is understood that each of said emitting units may comprise at least 1 laser emitter. It is to be understood that each emitting unit may also include a plurality of laser emitters, which is not limited in this application.
For any transmitting unit of the laser radar, one detection period comprises a plurality of transmitting periods, namely each transmitting unit transmits for a plurality of times in one detection period.
At least two laser emitting units to be turned on are determined in one measuring period, which may be, as shown in fig. 2, determining the laser emitting units to be turned on in the laser emitter group 111 and determining the laser emitting units to be turned on in the laser emitter group 112 in one measuring period, where the laser emitting units to be turned on in the laser emitter group 111 and the laser emitting units to be turned on in the laser emitter group 112 satisfy the physical-optical non-crosstalk condition.
And controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams respectively, so as to realize the detection of the target object.
When the at least two laser transmitting units are controlled to transmit laser beams to the target object based on the preset rule, and the transmitted laser beams contact the target object, the reflected echo lasers generated by the reflection are transmitted to the at least two laser receiving units corresponding to the at least two laser transmitting units, so that the target object is detected.
For example, after the laser emitting units in the laser emitter group 111 and the laser emitting units in the laser emitter group 112 emit laser beams to the target object according to a preset rule, the laser beams are received by the laser receiving units in the laser receiver 211 and the laser receiving units in the laser receiver 212, and point cloud data of the target object can be obtained according to the received laser beams.
By adopting the embodiment, at least two laser emission units to be started are determined in one measurement period, and the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition; and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams respectively, so as to realize the detection of the target object. The laser receiving unit can not generate the crosstalk problem when receiving the stress light, and the accuracy of the point cloud data is improved.
As shown in fig. 4, fig. 4 is a schematic flowchart of an anti-interference method for a laser radar according to an embodiment of the present application;
s201, determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
please refer to S101, which is not described herein.
The method for determining at least two laser emission units to be started in one measurement period is characterized in that the at least two laser emission units to be started are in different laser emission groups, and the method comprises the following steps:
determining the light spot offset of each laser emission unit in at least two laser emission groups;
and determining at least two laser emission units to be started based on the light spot offset of each laser emission unit, wherein the at least two laser emission units to be started are in different laser emission groups.
It can be understood that at least two emission units to be turned on are determined based on the light spot offset of each laser emission unit, mainly so that the offset of the echo light spot of any one of the at least two emission units to be turned on is not received by the receivers corresponding to the other emission units to be turned on, thereby causing crosstalk.
The offset of the light spot corresponding to the laser emitting unit = a focal length of a lens × tan α corresponding to the laser emitting unit, as shown in fig. 5, where tan α is a ratio of a target detection distance corresponding to the laser emitting unit to a distance between the emitting unit and a receiver corresponding to the emitting unit. As an alternative embodiment, the laser emitting units in the laser emitting group may be grouped according to the difference in the distances from the different laser emitting units in the laser emitting group to the central optical axis of the lens. For example, the laser emitting unit can be divided into an emitting unit group corresponding to the central detection view field and an emitting unit group corresponding to the edge detection view field. It is understood that the spot displacement of the central detection field is small and the spot displacement of the laser emitting units of the edge detection field is large. Therefore, the emission conditions of the laser emission units to be turned on can be designed according to the groups in which the emission units to be turned on are located. For example, if the at least two transmitting units are in the group corresponding to the edge detection field, the at least two transmitting unit channels are staggered by a first preset number of channels; and if the at least two transmitting units are positioned in the group corresponding to the central detection visual field, the channels of the at least two transmitting units are staggered by a second number of channels. The first preset number is larger than the second preset number.
As another optional embodiment, the laser emitting units may be divided into different groups according to different detection distances of the laser emitting units in different laser emitting groups, and the emitting conditions of the laser emitting units to be turned on are designed according to the group in which the emitting units to be turned on are located. For example, each laser emitter group is divided into three groups according to the detection distance range, wherein the distance range of the first group is within a first preset range, such as 5-10m, the distance range of the second group is within a second preset range, such as 10-100m, and the distance range of the third group is within a third preset range, such as 100m-200m. Then, at least two emitting unit channels in the first group are staggered by a first preset number of channels, at least two laser emitting unit channels in the second group are staggered by a second preset number of channels, and at least two laser emitting units in the third group are staggered by a third preset number of channels. Wherein the first preset number is larger than the second preset number and larger than the third preset number.
S202, setting an emission coding value set of at least two laser emission units according to a preset emission coding rule; ensuring that the transmitting code values of the at least two laser transmitting units meet preset cross-correlation conditions;
first, at least two pseudo-random sequences are generated by a linear feedback shift register.
Based on the definition of the linear feedback shift register, it should have at least one input sequence. The input sequence may be set by the lidar according to actual requirements, and is not limited herein. Considering that the embodiment of the present application is to reduce crosstalk of echo signals of different times by a transmitting unit, as an alternative, values in the input sequence may be different from each other. At least two pseudo-random sequences can be generated by continuous feedback and re-input of the linear feedback shift register.
And then, calculating the cross-correlation coefficient of any two pseudo-random sequences based on the cross-correlation function of the any two pseudo-random sequences.
The laser radar can calculate the cross-correlation coefficient of each pseudorandom sequence based on the cross-correlation function of each pseudorandom sequence. In particular, the cross-correlation function may be obtained based on the following equation:
wherein, a i Is a pseudo-random sequence, b i+τ Is another pseudo-random sequence, and CCF (a, b, tau) is a pseudo-random sequence a i And b i+τ τ is a preset time offset.
And finally, screening out the pseudo-random sequences of which the cross-correlation coefficients meet the preset cross-correlation condition, and determining a transmitting code value set based on the screened pseudo-random sequences.
The cross-correlation condition is mainly to select a pseudo-random sequence with the cross-correlation as small as possible so as to reduce the possibility of echo signal crosstalk in the process of concurrency. For example only, a cross-correlation coefficient threshold may be preset, and the cross-correlation coefficient of any two pseudo-random sequences may be compared with the cross-correlation coefficient threshold, so as to screen out a plurality of pseudo-random sequences whose cross-correlation coefficients are smaller than the cross-correlation coefficient threshold, where the means for screening is not limited herein. The lidar may thus determine a set of transmission code values for each parallel transmission unit based on the screened pseudorandom sequence. If three pseudo-random sequences S1, S2 and S3 are obtained, and the cross-correlation between every two of the three pseudo-random sequences is small, the transmission code value set of the transmitting unit a can be determined based on S1, the transmission code value set of the transmitting unit B can be determined based on S2, and the transmission code value set of the transmitting unit C can be determined based on S3.
It should be understood that, as an alternative, a reference time may be preset in each detection period. Based on the concept of the reference time instant, the set of transmission coding values is a set of transmission coding values, i.e. values representing the time delay of the transmission time instant of the transmission unit with respect to the reference time instant. Wherein the encoded values in the set of transmitted encoded values satisfy an autocorrelation condition. The laser radar can calculate the autocorrelation coefficient of each pseudorandom sequence based on the autocorrelation function of each pseudorandom sequence. Specifically, the autocorrelation function may be obtained based on the following equation:
wherein ACF (a, τ) is an autocorrelation function, a i Denotes the ith pseudo-random sequence, and τ is a preset time offset. Wherein it is understood that the autocorrelation condition is mainly to keep the autocorrelation coefficients of the transmitted coded value set within a small range; that is, the autocorrelation between the individual transmission encoded values at the same set of transmission encoded values is made smaller than a preset threshold.
As an optional embodiment, a reference time is set based on the first sounding period, and a set of transmission code values is established based on the reference time, where the set of transmission code values includes a preset number of different transmission code values, so as to minimize autocorrelation of the transmission code set. When at least two laser emission units are controlled to emit, two emission code values can be randomly extracted to carry out emission control. Meanwhile, the emission coding values extracted in the preset time length are different and can be repeatedly used when the emission coding values exceed the preset time length.
S203, controlling the at least two laser emission units to stagger the preset number of physical channels to emit laser beams; and controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to receive the echo beams so as to realize the detection of the target object.
After the emission code value sets of the at least two laser emission units all satisfy a preset cross-correlation condition, controlling the at least two laser emission units to stagger a preset number of physical channels to emit laser beams, where the preset number may be different according to actual conditions, for example, when the distance between the laser radar and the target object is close, the staggered preset number of physical channels may be larger than that when the distance between the laser radar and the target object is far, for example, when the distance between the laser radar and the target object is expected to exceed 200m, as shown in fig. 6, controlling the at least two laser emission units to stagger 2 number of physical channels to emit laser beams, and as shown in fig. 7, when the distance between the laser radar and the target object is expected to not exceed 100m-200m, controlling the at least two laser emission units to stagger 4 number of physical channels to emit laser beams. When the at least two laser emitting units emit laser beams by being shifted by a preset number of physical channels, it is necessary to perform receiving echo beams by the laser receiving units corresponding to the at least two laser emitting units by being shifted by a preset number of physical channels, and when the at least two laser emitting units are controlled to emit laser beams by being shifted by 4 number of physical channels, for example, as shown in fig. 8, the emitting units of A0, C4, E8, G12 are controlled to emit laser beams, and the corresponding receiving units of a '0, C '4, E '8, G '12 are controlled to receive echo beams, and in the next detection period, as shown in fig. 9, the emitting units emitting laser beams are A1, C5, E9, G0, and as shown in fig. 10, the corresponding receiving units of a '1, C5, E '9, G '0 are controlled to receive echo beams.
It can be understood that, when the at least two laser emitting units are controlled to emit laser beams based on the preset rule, the selection of the emission coding values and the staggered number of the emission channels are considered in total, that is, the problem of crosstalk is not generated when the echo laser is controlled from two directions of emission control and physical optical isolation, and the accuracy of the point cloud data is improved.
By adopting the embodiment, at least two laser emission units to be started are determined in one measurement period, and the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition, and the emission coding value sets of the at least two laser emission units are set according to a preset emission coding rule; ensuring that the emission code value sets of the at least two laser emission units meet preset cross-correlation conditions; controlling the at least two laser emission units to stagger the preset number of physical channels to emit laser beams; and controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to stagger the physical channels with the preset number to receive the echo beams, so as to realize the detection of the target object. The laser receiving unit can not generate the crosstalk problem when receiving the stress light, and the accuracy of the point cloud data is improved.
As shown in fig. 11, fig. 11 is a schematic flowchart of an anti-interference method for a laser radar according to an embodiment of the present application;
s301, determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
please refer to S101, which is not described herein.
S302, setting an emission coding value set of at least two laser emission units according to a preset emission coding rule; ensuring that the emission code value sets of the at least two laser emission units meet preset cross-correlation conditions;
please refer to S202, which is not described herein.
S303, controlling the at least two laser emitting units to emit laser beams by staggering time sequence based on actual ranging requirements; controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to stagger the physical channels with the preset number to receive the echo beams;
when the receiving distances of the laser receiving units are different, the same distances can be combined, the same group of the distance measuring distances of the laser receivers are the same, and the distance measuring distances of the laser receivers which do not belong to the same group can be different. Therefore, the laser light can be emitted with a timing shifted according to actual needs. For example, when the ranging distance is greater than 200M, the laser emitting units in the laser emitters of the AB group are used to emit laser, and when the ranging distance is less than 200M, the laser emitting units in the laser emitters of the CD group are used to emit laser.
Please refer to S203, which is not described herein again, for controlling the laser receiving units corresponding to the at least two laser emitting units to stagger the preset number of physical channels to receive the echo beams.
S304, carrying out first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data, and realizing detection on the target object.
In the embodiment of the present application, two filtering processing manners are proposed, which are a first filtering processing and a second filtering processing. It can be understood that, for any point to be measured in the original point cloud data, the point to be measured can be retained as long as the point to be measured is determined to be valid in any filtering processing mode; on the contrary, if the point to be measured is determined to be invalid through both the two filtering processing modes, the point to be measured is considered as a noise point, and the point to be measured needs to be removed.
In order to avoid resource waste and improve the efficiency of filtering processing, a filtering processing mode can be used for detecting the point to be measured (namely, the first filtering processing is carried out); if the first filtering process determines that the point to be measured is effective, the point to be measured is reserved, and another filtering process is not needed to be carried out on the point to be measured; on the contrary, if the first filtering process determines that the point to be measured is invalid, another filtering process mode is needed to detect the point to be measured (i.e. the second filtering process is performed); if the second filtering process determines that the point to be measured is effective, the point to be measured is reserved; on the contrary, if the point to be measured is still determined to be invalid by the second filtering processing, the point to be measured is finally determined to be invalid, and the point to be measured can be removed from the original point cloud data.
In some embodiments, the processing procedure of the first filtering process is detailed as follows for any point to be measured in the original point cloud data:
firstly, a neighborhood to be measured with the point to be measured as the center is determined based on the preset neighborhood size.
And then, calculating the difference between the ranging value of each point except the point to be measured in the neighborhood to be measured and the ranging value of the point to be measured.
In general, in the point cloud obtained based on the target whose surface is perpendicular to the lidar 0-degree direction (horizontal or vertical), the difference in the range values of the respective points is small. Based on this, the difference between the ranging value of each point except the point to be measured in the neighborhood to be measured and the ranging value of the point to be measured can be calculated from the angle. It will be appreciated that M x N-1 points are in this neighborhood of M x N, in addition to the points to be measured. The M X N-1 points respectively calculate the difference of the distance measurement value with the point to be measured, thereby obtaining M X N-1 differences.
And finally, determining whether the point to be measured is effective or not based on the obtained difference.
By the above steps, the difference of the range values of each point in the neighborhood to be measured should be small. The difference values of M x N-1 obtained can be analyzed as the judgment standard to determine whether the point to be measured is effective. Specifically, in order to eliminate accidental interference and reduce the occurrence of analysis errors, a number threshold may be preset; then, based on the quantity threshold, whether the point to be measured is valid can be analyzed by the following process: counting the number of target differences in the M x N-1 differences, wherein the target differences refer to: a difference value less than a preset difference value threshold; if the number of the target difference values reaches the number threshold, determining that the point to be measured is valid; on the contrary, if the number of the target difference values is less than the number threshold, it is necessary to determine whether the point to be measured is valid by combining the result of the second filtering process.
For example only, assuming that M is 3,N as 3 and the point to be measured is P0, a neighborhood of 3*3 can be determined from the original point cloud with the point to be measured P0 as the center. For convenience of illustration, points in the neighborhood except the point P0 to be measured are respectively denoted as P1, P2, P3, P4, P5, P6, P7 and P8. Then, during the first filtering process, the difference between the ranging value of P1 and the ranging value of P0 may be calculated and recorded as d01, the difference between the ranging value of P2 and the ranging value of P0 may be calculated and recorded as d02, and so on until the difference between the ranging value of P8 and the ranging value of P0 is calculated and recorded as d08. Comparing d01, d02, … … and d08 with a preset difference threshold value d respectively, it can be known that several differences among d01, d02, … … and d08 are smaller than the difference threshold value, that is, the number l of target difference values is known. Assuming that the quantity threshold is l0, when l is more than or equal to l0, the point to be measured can be determined to be valid and can be reserved; and when l is less than l0, the point to be measured is determined to be invalid, and the result of the second filtering processing is combined to finally make a decision of retaining or rejecting.
In some embodiments, the processing procedure of the second filtering process is detailed as follows for any point to be measured in the original point cloud data:
firstly, at least two points are obtained in the original point cloud data in a preset direction by taking a point to be measured as a center.
Typically, the range values of the points in the point cloud obtained based on the target having an angle between the surface and the lidar 0 degree direction (horizontal or vertical) may be very different. At this time, if the first filtering process is still employed, it may cause the normal point to be deleted erroneously. A second filtering process is proposed for this case, as a complement to the first filtering process.
Each point in the point cloud can be represented based on coordinates (x, y, d); wherein x is used to represent the horizontal displacement of the point relative to the lidar; y is used to represent the vertical displacement of the point relative to the lidar; d represents depth information, i.e. a ranging value. In this context, the direction in the embodiment of the present application is not actually the direction presented by each point and the point to be measured in the three-dimensional space, but is the direction presented by each point and the point to be measured in the two-dimensional xy plane after the point cloud to be considered is projected on the xy plane (that is, the direction presented by each point based on the x coordinate and the y coordinate and the point to be measured).
For example only, the preset directions may include: horizontal direction, vertical direction and + -45 degree direction, and the total of four directions. Conceivably, the four directions form a shape like a Chinese character 'mi' on the xy plane by taking the point to be measured as the center. Note that the point to be measured is P1, and regardless of the depth information, the point to be measured can be written as P1 (x 0, y 0), then:
the points in the horizontal direction of the point to be measured are respectively as follows: … …, P2 (x 0-2, y0), P3 (x 0-1, y0), P4 (x 0+1, y0), P5 (x 0+2, y0), … …;
the points in the vertical direction of the point to be measured are respectively as follows: … …, P6 (x 0, y 0-2), P7 (x 0, y 0-1), P8 (x 0, y0+ 1), P9 (x 0, y0+ 2), … …;
the points in the +45 degree direction of the point to be measured are respectively: … …, P10 (x 0-2, y0-2), P11 (x 0-1, y0-1), P12 (x 0+1, y0+ 1), P13 (x 0+2, y0+ 2), … …;
the points of the point to be measured in the-45 degree direction are respectively as follows: … …, P10 (x 0-2, y0+ 2), P11 (x 0-1, y0+ 1), P12 (x 0+1, y0-1), P13 (x 0+2, y0-2), … ….
And then, fitting the at least two points and the point to be measured.
And under the condition that only one preset direction exists, the obtained distance measurement values of at least two points and the point to be measured can be directly fitted.
Under the condition that more than two preset directions exist, the distance measurement values of at least two points and the point to be measured obtained in one preset direction can be fitted in sequence. For example, fitting at least two points in the horizontal direction of the point to be measured and the ranging values of the point to be measured; then fitting at least two points in the vertical direction of the point to be measured and the ranging value of the point to be measured; then fitting at least two points in the + 45-degree direction of the point to be measured and the ranging value of the point to be measured; and finally, fitting at least two points of the point to be measured in the-45-degree direction and the ranging value of the point to be measured.
And finally, determining whether the point to be measured is effective or not based on the fitting result.
In a point cloud obtained based on a target having an angle between the surface and the lidar 0 degree direction (horizontal or vertical), a point in a certain direction should be fitted as a straight line. In order to save processing resources and improve processing efficiency, the embodiment of the application performs targeted processing only based on the preset directions of the points to be measured, and detects whether the points in the preset directions can be fitted into a straight line. And D, when the fitting result indicates that at least two points in the preset direction in the step D2 and the point to be measured can be fitted into a straight line, determining that the point to be measured is effective.
It should be noted that, under the condition that there are more than two preset directions, as long as the fitting result indicates that at least two points in any preset direction can be fitted with the point to be measured to form a straight line, it can be determined that the point to be measured is valid, and at this time, other preset directions which are not yet fitted can not be considered; on the contrary, if the fitting result indicates that at least two points in each preset direction cannot be fitted with the point to be measured into a straight line, the point to be measured is determined to be invalid, and the determination of reservation or elimination can be finally made only by combining the result of the first filtering processing.
By adopting the embodiment, at least two laser emission units to be started are determined in one measurement period, and the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition, and the emission coding value sets of the at least two laser emission units are set according to a preset emission coding rule; ensuring that the emission coding value sets of the at least two laser emission units meet preset cross-correlation conditions, and controlling the at least two laser emission units to stagger time sequence to emit laser beams based on actual ranging requirements; and controlling at least two laser receiving units respectively corresponding to the laser emitting units to stagger a preset number of physical channels to receive the echo beams, and performing first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data so as to realize the detection of the target object. The laser receiving unit can be enabled not to generate the problem of crosstalk when receiving the stress light, and the accuracy of the point cloud data is further improved through recording and broadcasting processing.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Referring to fig. 12, a schematic structural diagram of a lidar jamming prevention apparatus according to an exemplary embodiment of the present application is shown. The lidar interference rejection device may be implemented as all or part of a terminal, by software, hardware, or a combination of both. The device 1 comprises a unit determining module 11, an object detecting module 12,
The unit determining module 11 is configured to determine at least two laser emitting units to be turned on in one measurement period, where the at least two laser emitting units to be turned on are in different laser emitting groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
and the target detection module 12 is configured to control the at least two laser emission units to emit laser beams based on a preset rule, and control the at least two laser reception units corresponding to the laser emission units to receive the echo beams, so as to implement detection of a target object.
Optionally, the unit determining module 11 is specifically configured to:
setting emission conditions of at least two laser emission units to be started based on the offsets of the light spots corresponding to the at least two laser emission units to be started so as to enable the at least two laser emission units to be started to meet the physical and optical crosstalk-free condition;
the offset = of the light spot corresponding to the laser emission unit is a focal length of a lens × tan α corresponding to the laser emission unit, and the tan α is a ratio of a target detection distance corresponding to the laser emission unit to a distance between the emission unit and a receiver corresponding to the emission unit.
Optionally, the object detection module 12 is specifically configured to:
controlling the at least two laser emission units to stagger the preset number of physical channels to emit laser beams;
or the like, or, alternatively,
and controlling the at least two laser emission units to emit laser beams in a staggered time sequence based on actual ranging requirements.
Optionally, as shown in fig. 13, the apparatus 1 further includes:
the encoding setting module 13 is configured to set an emission encoding value set of at least two laser emission units according to a preset emission encoding rule;
and a condition ensuring module 14, configured to ensure that the set of emission code values of the at least two laser emission units each satisfy a preset cross-correlation condition.
Optionally, the object detection module 12 is specifically configured to:
and controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to stagger the physical channels with the preset number to receive the echo beams.
Optionally, as shown in fig. 14, the apparatus 1 further includes:
and the filtering processing module 15 is used for performing first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data.
Optionally, as shown in fig. 15, the filtering processing module 15 includes:
a to-be-measured neighborhood determining unit 151 configured to determine, for each point to be measured in the original point cloud data, a to-be-measured neighborhood centered on the point to be measured based on a preset neighborhood size;
a difference value calculating unit 152, configured to calculate difference values between the ranging values of the points in the to-be-measured neighborhood except the to-be-measured point and the ranging values of the to-be-measured point;
a first point-to-be-measured determining unit 153 for determining whether the point to be measured is valid based on the difference.
Optionally, as shown in fig. 16, the filtering processing module 15 includes:
a point-to-be-measured obtaining unit 154, configured to obtain, for each point to be measured in the original point cloud data, at least two points in a preset direction with the point to be measured as a center in the original point cloud data;
a point-to-be-measured fitting unit 155, configured to fit the at least two points and the point to be measured;
the second point-to-be-measured determining unit 156 is further configured to determine whether the point to be measured is valid based on the fitting result;
the to-be-measured point determining unit 156 is specifically configured to:
and if the fitting result indicates that the at least two points and the point to be measured can be fitted into a straight line, determining that the point to be measured is valid.
In the embodiment of the application, at least two laser emission units to be started are determined in one measurement period, and the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition, and the emission coding value sets of the at least two laser emission units are set according to a preset emission coding rule; ensuring that the emission coding value sets of the at least two laser emission units meet preset cross-correlation conditions, and controlling the at least two laser emission units to stagger time sequence to emit laser beams based on actual ranging requirements; and controlling at least two laser receiving units respectively corresponding to the laser emitting units to stagger a preset number of physical channels to receive the echo beams, and performing first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data so as to realize the detection of the target object. The laser receiving unit can be enabled not to generate the problem of crosstalk when receiving the stress light, and the accuracy of the point cloud data is further improved through recording and broadcasting processing.
It should be noted that, when the lidar anti-interference apparatus provided in the foregoing embodiment executes the lidar anti-interference method, only the division of the above functional modules is used for illustration, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the laser radar anti-interference device provided by the embodiment and the laser radar anti-interference method embodiment belong to the same concept, and the detailed implementation process is shown in the method embodiment and is not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
An embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are suitable for being loaded by a processor and executing the method steps in the embodiments shown in fig. 1 to 11, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 to 11, which are not described herein again.
The present application further provides a lidar, where the lidar stores at least one instruction, and the at least one instruction is loaded by the processor and executes the method steps in the embodiments shown in fig. 1 to 11, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 to 11, which is not described herein again.
Please refer to fig. 17, which provides a schematic structural diagram of a laser radar according to an embodiment of the present application. As shown in fig. 17, the mobile terminal 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002.
Wherein a communication bus 1002 is used to enable connective communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The Memory 1005 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable medium. The memory 1005 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1005 may optionally be at least one memory device located remotely from the processor 1001. As shown in fig. 17, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a lidar tamper resistant application.
In the mobile terminal 1000 shown in fig. 17, the user interface 1003 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and processor 1001 may be configured to invoke the create lidar tamper resistant application stored in memory 1005, and specifically perform the following operations:
determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams respectively, so as to realize the detection of the target object.
In one embodiment, when the processor 1001 executes that at least two laser emitting units to be turned on satisfy the condition of physical-optical non-crosstalk, the following operations are specifically performed:
setting emission conditions of at least two laser emission units to be started based on the offsets of the light spots corresponding to the at least two laser emission units to be started so as to enable the at least two laser emission units to be started to meet the physical and optical crosstalk-free condition;
the offset = of the light spot corresponding to the laser emission unit is a focal length of a lens × tan α corresponding to the laser emission unit, and the tan α is a ratio of a target detection distance corresponding to the laser emission unit to a distance between the emission unit and a receiver corresponding to the emission unit.
In one embodiment, when performing the control of the at least two laser emitting units to emit the laser beams based on the preset rule, the processor 1001 specifically performs the following operations:
controlling the at least two laser emission units to stagger the preset number of physical channels to emit laser beams;
or the like, or, alternatively,
and controlling the at least two laser emission units to emit laser beams in a staggered time sequence based on actual ranging requirements.
In one embodiment, the processor 1001 further performs the following operations:
setting an emission coding value set of at least two laser emission units according to a preset emission coding rule;
and ensuring that the emission code value sets of the at least two laser emission units meet preset cross-correlation conditions.
In an embodiment, when the processor 1001 performs control on at least two laser receiving units respectively corresponding to the laser emitting units to receive the echo beams, the following operations are specifically performed:
and controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to stagger the physical channels with the preset number to receive the echo beams.
In one embodiment, after controlling the laser receiving units respectively corresponding to at least two of the laser transmitting units to receive the echo beams, the processor 1001 further performs the following operations:
and carrying out first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data.
In one embodiment, when executing the processing procedure of the first filtering process, the processor 1001 specifically executes the following operations:
determining a neighborhood to be measured with the point to be measured as the center based on a preset neighborhood size for each point to be measured in the original point cloud data;
calculating the difference between the ranging value of each point except the point to be measured in the neighborhood to be measured and the ranging value of the point to be measured;
and determining whether the point to be measured is valid or not based on the difference value.
In an embodiment, when executing the processing procedure of the second filtering process, the processor 1001 specifically performs the following operations:
aiming at each point to be measured in the original point cloud data, taking the point to be measured as a center in the original point cloud data, and acquiring at least two points in a preset direction;
fitting the at least two points and the point to be measured;
determining whether the point to be measured is effective or not based on the fitting result;
wherein, the determining whether the point to be measured is valid based on the fitting result comprises:
and if the fitting result indicates that the at least two points and the point to be measured can be fitted into a straight line, determining that the point to be measured is valid.
In the embodiment of the application, at least two laser emission units to be started are determined in one measurement period, and the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical non-crosstalk condition, and the emission coding value sets of the at least two laser emission units are set according to a preset emission coding rule; ensuring that the emission coding value sets of the at least two laser emission units meet preset cross-correlation conditions, and controlling the at least two laser emission units to stagger time sequence to emit laser beams based on actual ranging requirements; and controlling at least two laser receiving units respectively corresponding to the laser emitting units to stagger a preset number of physical channels to receive the echo beams, and performing first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data so as to realize the detection of the target object. The laser receiving unit can be enabled not to generate the problem of crosstalk when receiving the stress light, and the accuracy of the point cloud data is further improved through recording and broadcasting processing.
Referring to fig. 18, a schematic structural diagram of a lidar according to an exemplary embodiment of the present disclosure is shown. The lidar includes a housing 1101, a transmitting plate group 1102, a receiving plate 1103, a reflecting mirror 1104, a transmitting lens 1105, a receiving lens 1106, a lens spacer 1107, an optical rotation fixing bracket 1108, a rotation driving base 1109, and a rotator rear spacer 1110. Wherein the optical rotation fixing bracket 1108 is used to fix the emitting plate 1102, the receiving plate 1103, the emitting lens 1105 and the receiving lens 1106. And rotates together with the transmitting plate 1102, the receiving plate 1103, the transmitting lens 1105 and the receiving lens 1106.
A spacer 1107 is disposed between the transmitting lens 1105 and the receiving lens 1106 to prevent crosstalk between the transmitting optical path and the receiving optical path.
The rotation driving base 1109 is disposed at the lower portion of the optical rotation fixing support 1108, and is configured to drive the optical rotation fixing support 1108 to drive the transmitting and receiving optical system to perform rotation scanning.
The housing 1101 may be disposed outside the rotating and fixing frame 1108 for protecting the transmitting and receiving optical systems.
Therein, it is understood that the set of emitter plates 1102 may include the laser emitting array shown in fig. 2. Wherein the receiving board 1103 may comprise a receiving array as shown in fig. 3.
It is understood, however, that the lidar further includes a main control circuit board, and the specific type of the main control circuit board that may include programmable devices is not limited herein. For example, the programmable device may be a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), an Erasable Programmable Logic Device (EPLD), or the like. In practical applications, a user may control the programmable device to perform a specific function by programming.
It can be understood that the lidar in the embodiment of the present application may control the transmitting array and the receiving array through the main control circuit board, and simultaneously process the echo signals, so as to implement the interference immunity methods shown in fig. 1, 4, and 11.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory. The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (10)
1. An interference rejection method for a lidar comprising a laser transmit array and a laser receive array, the method comprising:
determining at least two laser emission units to be started in a measurement period, wherein the at least two laser emission units to be started are in different laser emission groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
and controlling the at least two laser transmitting units to transmit laser beams based on a preset rule, and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams respectively, so as to realize the detection of the target object.
2. The method of claim 1, the controlling the at least two laser emitting units to emit laser beams based on a preset rule, comprising:
controlling the at least two laser emission units to stagger the preset number of physical channels to emit laser beams;
or the like, or, alternatively,
and controlling the at least two laser emission units to emit laser beams in a staggered time sequence based on actual ranging requirements.
3. The method of claim 1, further comprising:
setting an emission coding value set of at least two laser emission units according to a preset emission coding rule;
and ensuring that the emission code value sets of the at least two laser emission units meet preset cross-correlation conditions.
4. The method according to claim 1, wherein the controlling at least two laser emitting units to receive the echo beam comprises:
and controlling the laser receiving units respectively corresponding to the at least two laser transmitting units to stagger the physical channels with the preset number to receive the echo beams.
5. The method according to claim 1, after the controlling the laser receiving units respectively corresponding to at least two of the laser transmitting units to receive the echo beams, further comprising:
and carrying out first filtering processing and/or second filtering processing on the obtained original point cloud data to obtain non-interference point cloud data.
6. The method according to claim 5, wherein the first filtering process is performed by:
determining a neighborhood to be measured with the point to be measured as the center based on a preset neighborhood size for each point to be measured in the original point cloud data;
calculating the difference between the ranging value of each point except the point to be measured in the neighborhood to be measured and the ranging value of the point to be measured;
and determining whether the point to be measured is valid or not based on the difference value.
7. The method according to claim 5, wherein the second filtering process is performed by:
aiming at each point to be measured in the original point cloud data, taking the point to be measured as a center in the original point cloud data, and acquiring at least two points in a preset direction;
fitting the at least two points and the point to be measured;
determining whether the point to be measured is effective or not based on the fitting result;
wherein the determining whether the point to be measured is valid based on the fitting result comprises:
and if the fitting result indicates that the at least two points and the point to be measured can be fitted into a straight line, determining that the point to be measured is valid.
8. The laser radar anti-jamming device is characterized in that the laser radar comprises a laser transmitting array and a laser receiving array, and the device comprises:
the unit determining module is used for determining at least two laser emitting units to be started in one measuring period, wherein the at least two laser emitting units to be started are in different laser emitting groups; the at least two laser emission units to be started meet the physical and optical crosstalk-free condition;
and the target detection module is used for controlling the at least two laser transmitting units to transmit laser beams based on a preset rule and controlling the at least two laser receiving units corresponding to the laser transmitting units to receive echo beams so as to realize the detection of the target object.
9. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method steps according to any of claims 1-7.
10. A lidar, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1-7.
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| EP22215804.0A EP4202499A1 (en) | 2021-12-23 | 2022-12-22 | Lidar anti-interference method and apparatus, storage medium, and lidar |
| US18/087,807 US20230204725A1 (en) | 2021-12-23 | 2022-12-22 | Lidar anti-interference method and apparatus, storage medium, and lidar |
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| CN110780306A (en) * | 2019-11-19 | 2020-02-11 | 深圳市镭神智能系统有限公司 | Anti-interference method for laser radar and laser radar |
| CN110927734A (en) * | 2019-11-24 | 2020-03-27 | 深圳奥锐达科技有限公司 | Laser radar system and anti-interference method thereof |
| US10983197B1 (en) * | 2020-02-10 | 2021-04-20 | Hesai Technology Co., Ltd. | Adaptive emitter and receiver for Lidar systems |
| CN113359142A (en) * | 2020-03-06 | 2021-09-07 | 上海禾赛科技有限公司 | Laser radar and ranging method thereof |
| WO2021175228A1 (en) * | 2020-03-06 | 2021-09-10 | 上海禾赛科技股份有限公司 | Lidar and distance measuring method therefor |
| CN113447933A (en) * | 2020-03-24 | 2021-09-28 | 上海禾赛科技有限公司 | Detection unit of laser radar, laser radar and detection method thereof |
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| CN116148817A (en) * | 2023-04-21 | 2023-05-23 | 常州星宇车灯股份有限公司 | Dual-wavelength-based TOF laser radar system and anti-interference method thereof |
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